Dropper length adjusting equipment and adjusting method thereof

Abstract

The invention provides dropper length adjusting equipment and an adjusting method thereof. The dropper length adjusting equipment is used for operation and maintenance of an overhead line system and comprises a first clamp, a second clamp, a third clamp, a fourth clamp and a robot module. The robot module drives the first clamp, the second clamp, the third clamp and the fourth clamp to cooperate with one another to adjust the length of the dropper in the overhead line system, manual high-altitude operation and manual intervention are not needed, unmanned operation of adjustable dropper operation of the overhead line system is achieved, and the working intensity and potential safety hazards of first-line workers are reduced; and meanwhile, by means of the consistency of operation actions of the robot module and standardization of operation steps, standardized adjustment of adjustable dropper operation of the overhead line system is achieved, and the intelligent level of the overhead line system is promoted.

Description

Technical Field

[0001] The present invention relates to the technical field of heavy-haul freight railway catenary maintenance, and particularly to a suspension length adjustment device and an adjustment method thereof. Background Art

[0002] During the long-term use of the catenary, due to complex conditions such as ice load, rain and snow load, wind load, temperature change, and complex dynamic load caused by the high-speed passing of trains outdoors, its installation accuracy is extremely prone to deviation, and the catenary will sag significantly, which not only affects the current collection condition of the train, but may also cause major safety accidents and cause irreparable losses. Therefore, it is of great significance to regularly maintain and adjust the position accuracy of the contact wire.

[0003] The contact wire is an important component of the catenary, and its installation height directly affects the length of the catenary suspension, and thus directly affects the stability of the power reception of the EMU. In daily railway maintenance work, it is often necessary to adjust the length of the catenary suspension. At present, the adjustment method mainly uses tools such as a chain block for adjustment. This operation takes a long time and has a large labor intensity. The operators need to work at high altitude, and there are potential safety hazards of collision and instability to the personnel and equipment during the operation. The operation process is greatly affected by the experience of the implementers, and the standardization degree is weak. Summary of the Invention

[0004] Based on this, it is necessary to provide a suspension length adjustment device and an adjustment method thereof for the above problems.

[0005] The technical solution is as follows:

[0006] On the one hand, a suspension length adjustment device is provided for the operation and maintenance of the catenary. The catenary includes a carrier cable, a contact wire arranged at intervals below the carrier cable, a clamp body installed on the carrier cable, a protective ring installed on the clamp body, a suspension, and an adjusting bolt clamp. One end of the suspension is connected to the contact wire, and the other end includes a secondary chord segment, a closed-loop segment, and a main chord segment connected in sequence. The secondary chord segment is connected to the clamp body, and the adjusting bolt clamp is installed on the closed-loop segment to form a closed loop for the closed-loop segment and sleeved with the protective ring. The adjusting bolt clamp includes an adjusting bolt, an adjusting nut, and a locking washer. The suspension length adjustment device includes:

[0007] A first fixture, including a first installation body, a screwing mechanism and a dialing mechanism installed on the first installation body. The screwing mechanism is used to connect the adjusting nut and drive the adjusting nut to tighten or loosen. The dialing mechanism is used to dial the locking washer off the adjusting nut before the adjusting nut is loosened, and reset the locking washer after the adjusting nut is tightened;

[0008] A second clamp, comprising a second mounting body and a fastening mechanism mounted on the second mounting body, the fastening mechanism being used to fasten the adjusting bolt;

[0009] a third fixture comprising a third mounting body and a supporting mechanism mounted on the third mounting body, the supporting mechanism being used to support the contact wire;

[0010] a fourth clamp comprising a fourth mounting body, a positioning module mounted on the fourth mounting body, and a primary adjustment mechanism and a secondary adjustment mechanism movably mounted on the fourth mounting body, wherein the positioning module is used to fix the wire clamp body and the retaining ring when adjusting the length of the dropper string; the primary adjustment mechanism is used to be fixedly connected to the primary string segment when the length of the dropper string needs to be increased; and the secondary adjustment mechanism is used to be hooked to the secondary string segment when the length of the dropper string needs to be shortened;

[0011] A robot module is used to drive the first installation body, the second installation body, the third installation body and the fourth installation body.

[0012] The technical solution is further described below:

[0013] In one embodiment, the twisting mechanism includes a driving member, a torque limiter transmission-connected to the driving member, a rotation transmission assembly and a first sleeve, one end of the rotation transmission assembly is transmission-connected to the torque limiter, and the other end is transmission-connected to the first sleeve, and the first sleeve is used to fasten the adjusting nut.

[0014] In one embodiment, the shift mechanism includes a shift fork mounted on the first mounting body, and a pointed portion is provided at one end of the shift fork away from the first mounting body, and the pointed portion is used to extend between the adjusting nut and the stop washer before the adjusting nut is loosened to shift the stop washer away from the adjusting nut, and a flat pressing surface is provided on the side wall of the shift fork, and the flat pressing surface is used to press the stop washer after the adjusting nut is tightened to reset the stop washer.

[0015] In one embodiment, the fastening mechanism includes a second sleeve, which is mounted on the second mounting body and is used to fasten the adjusting bolt;

[0016] And / or, the supporting mechanism includes a supporting frame, and a limiting groove is provided at one end of the supporting frame away from the third mounting body, and the inner wall of the limiting groove is used to support the contact line and limit the contact line.

[0017] In one embodiment, the fourth fixture further includes a driving mechanism and an adjusting body. The driving mechanism is installed on the fourth installation body and is in transmission connection with the adjusting body to drive the adjusting body to lift or lower. Both the main adjusting mechanism and the auxiliary adjusting mechanism are installed on the adjusting body.

[0018] In one embodiment, the positioning module includes a three-jaw chuck. The three-jaw chuck is used to pass through the protective ring and expand outward from the center to fix the protective ring.

[0019] And / or, the positioning module includes a clamping mechanism. The clamping mechanism is used to clamp the wire clamp body.

[0020] And / or, the positioning module includes a limiting mechanism. The limiting mechanism is used to be in limiting cooperation with the catenary.

[0021] In one embodiment, the first fixture further includes a first flange installed on the first installation body, the second fixture further includes a second flange installed on the second installation body, the third fixture further includes a third flange installed on the first installation body, the fourth fixture further includes a fourth flange installed on the fourth installation body. The robot module includes a first robot body with its end detachably connected to the first flange, a second robot body with its end detachably connected to the second flange, a third robot body with its end detachably connected to the third flange, and a fourth robot body with its end detachably connected to the fourth flange.

[0022] In one embodiment, the suspension length adjustment device further includes an installation platform and a storage rack. The first robot body, the second robot body, the third robot body, and the fourth robot body are respectively installed at the four corners of the installation platform. The storage rack is installed at the middle position of the installation platform and is used to fix and store the first fixture, the second fixture, the third fixture, and the fourth fixture.

[0023] On the other hand, an adjustment method is provided, which is applied to the suspension length adjustment device. The adjustment method includes:

[0024] Drive the second installation body to move so that the fastening mechanism fastens the adjustment bolt.

[0025] Drive the fourth installation body to move so that after the positioning module moves to the position of the protective ring, the positioning module acts to fix the protective ring and the wire clamp body.

[0026] When the length of the suspension string needs to be shortened, the auxiliary adjustment mechanism is actuated to be hooked with the auxiliary string segment, and the main adjustment mechanism remains in an open state so as not to be fixedly connected with the main string segment; when the length of the suspension string needs to be increased, the main adjustment mechanism is actuated to be fixedly connected with the main string segment, and the auxiliary adjustment mechanism remains in a retracted state so as not to be hooked with the auxiliary string segment;

[0027] driving the third mounting body to move so that the supporting mechanism supports the contact line;

[0028] driving the first mounting body to move so that the paddle mechanism pries the stop washer away from the adjusting nut;

[0029] driving the first mounting body to move again so that the screwing mechanism is connected to the adjusting nut, and the screwing mechanism drives the adjusting nut to be loosened;

[0030] When the length of the suspension string needs to be shortened, the auxiliary adjustment mechanism is controlled to descend and stops after descending a first specified length; when the length of the suspension string needs to be increased, the main adjustment mechanism is controlled to descend and stops after descending a second specified length;

[0031] The screwing mechanism drives the adjusting nut to be tightened, and disengages from the adjusting nut after being tightened;

[0032] The first mounting body is driven again to cause the paddle mechanism to press the stop washer, and the stop washer is reset.

[0033] In one embodiment, after the step of driving the first mounting body to move again so that the screwing mechanism is connected to the adjusting nut and the screwing mechanism drives the adjusting nut to loosen, the method further includes:

[0034] driving the first mounting body and the second mounting body to move downward simultaneously, so that the adjusting bolt and the adjusting nut move downward from the mounting position to the avoidance position;

[0035] Before the step of driving the adjusting nut to be tightened by the screwing mechanism and disengaging the adjusting nut after tightening, the method includes:

[0036] The first installation body and the second installation body are driven to move upward simultaneously, so that the adjusting bolt and the adjusting nut are reset from the avoidance position to the installation position.

[0037] Compared with the adjustment methods using tools such as chain hoists in the prior art, the catenary wire length adjustment device and its adjustment method in the present application have at least the following advantages: The adjustment of the catenary wire length is realized by the mutual cooperation of the first fixture, the second fixture, the third fixture and the fourth fixture driven by the robot module, without manual high-altitude operation and without manual intervention, realizing the unmanned operation of the adjustable catenary wire operation, reducing the work intensity and safety hazards of front-line workers; at the same time, the standardization of the adjustable catenary wire operation is realized by using the consistency of the operation actions of the robot module and the standardization of the operation steps, promoting the intelligent level of the catenary network. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings constituting a part of this application are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation of this application.

[0039] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0040] Figure 1 It is a schematic structural diagram of the catenary wire length adjustment device for one embodiment.

[0041] Figure 2 For Figure 1 The structural schematic diagram of the middle fixture workstation of

[0042] Figure 3 It is a schematic structural diagram of a catenary network for one embodiment.

[0043] Figure 4 For Figure 3 The partial enlarged view of part A in

[0044] Figure 5 It is a schematic structural diagram of the catenary wire length adjustment and its participating tooling in one embodiment.

[0045] Figure 6 For Figure 5 The structural schematic diagram of the first fixture in

[0046] Figure 7 For Figure 6 The structural schematic diagram of the screwing mechanism in

[0047] Figure 8 For Figure 6 The structural schematic diagram of the paddle mechanism in

[0048] Figure 9 Schematic diagram of the structure of the second fixture in Figure 5 .

[0049] Figure 10 Schematic diagram of the structure of the third fixture in Figure 5 .

[0050] Figure 11 Schematic diagram of the structure of the fourth fixture in Figure 5 .

[0051] Figure 12 Schematic diagram of the structure of the fourth fixture from another perspective in Figure 11 .

[0052] Figure 13 Partial enlarged view of part B in Figure 12 .

[0053] Figure 14 Flowchart of the method for adjusting the length of the suspension string in an embodiment.

[0054] Description of reference numerals:

[0055] 10. Suspension string length adjustment device; 100. First fixture; 110. First installation body; 120. Twisting mechanism; 121. Driving part; 122. Torque limiter; 123. Rotary transmission assembly; 124. First sleeve; 130. Paddle mechanism; 131. Fork; 1311. Sharp corner part; 1312. Flat pressing surface; 140. First flange; 200. Second fixture; 210. Second installation body; 220. Fastening mechanism; 221. Second sleeve; 230. Second flange; 300. Third fixture; 310. Third installation body; 320. Supporting mechanism; 321. Support bracket; 322. Limiting groove; 330. Third flange; 400. Fourth fixture; 410. Fourth installation body; 420. Positioning module; 421. Three-jaw chuck; 422. Clamping mechanism; 423. Limiting mechanism; 430. Main adjustment mechanism; 440. Sub-adjustment mechanism; 441. Installation bracket; 442. Hooking rod; 443. Telescopic part; 450. Driving mechanism; 460. Adjustment body; 470. Fourth flange; 500. Robot module; 510. First robot body; 520. Second robot body; 530. Third robot body; 540. Fourth robot body; 600. Installation platform; 700. Storage rack; 20. Catenary; 21. Carrier cable; 22. Contact wire; 23. Clip body; 24. Protective ring; 25. Suspension string; 2501. Sub-string segment; 2502. Closed-loop segment; 2503. Main-string segment; 26. Adjusting bolt clip; 2601. Adjusting bolt; 2602. Adjusting nut; 2603. Lock washer. Detailed implementation manners

[0056] To make the above objects, features, and advantages of the present application more apparent and understandable, the following provides a detailed description of the specific implementation manners of the present application with reference to the accompanying drawings. Many specific details are set forth in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0057] As Figure 1 and Figure 2 shown, in one embodiment, a suspension length adjustment device 10 is provided for the operation and maintenance of the catenary 20. The suspension length adjustment device 10 includes a first clamp 100, a second clamp 200, a third clamp 300, a fourth clamp 400, and a robot module 500.

[0058] As Figure 3 and Figure 4 shown, optionally, the catenary 20 includes a carrier cable 21, a contact wire 22 spaced below the carrier cable 21, a clamp body 23 installed on the carrier cable 21, a protective ring 24 installed on the clamp body 23, a suspension 25, and an adjustment bolt clamp 26. One end of the suspension 25 is connected to the contact wire 22, and the other end includes a secondary string segment 2501, a closed-loop segment 2502, and a main string segment 2503 connected in sequence. The secondary string segment 2501 is connected to the clamp body 23. The adjustment bolt clamp 26 is installed on the closed-loop segment 2502 to form a closed loop of the closed-loop segment 2502 and sleeved with the protective ring 24. The adjustment bolt clamp 26 includes an adjustment bolt 2601, an adjustment nut 2602, and a stop washer 2603.

[0059] It should be noted that the installation of the catenary 20 in the present application meets the relevant requirements of TB / T2075.7-1B-2020 "Overhead Contact System Components for Electrified Railways - Part 7: Integral Suspension and Suspension Clamps" and QCR979.7-B-2023 "Overhead Contact System Components for Electrified Railways - Part 7 Integral Suspension".

[0060] It should be noted that the suspension length adjustment device 10 is used to adjust the length of the suspension 25 in the vertical direction, and thus adjust the position of the contact wire 22 in the vertical direction.

[0061] As Figure 4 , Figure 5 and Figure 6As shown, in one embodiment, the first clamp 100 includes a first mounting body 110, and a screwing mechanism 120 and a paddle mechanism 130 mounted on the first mounting body 110. The screwing mechanism 120 is used to connect to the adjustment nut 2602 and drive the adjustment nut 2602 to tighten or loosen. The paddle mechanism 130 is used to pry the stop washer 2603 away from the adjustment nut 2602 before the adjustment nut 2602 is loosened, and to reposition the stop washer 2603 after the adjustment nut 2602 is tightened. In this way, the first clamp 100 is a dual-station clamp. The screwing mechanism 120 can perform the functions of tightening and loosening the adjustment nut 2602, and the paddle mechanism 130, driven by the robot module 500, can pry the stop washer 2603 to allow the adjustment nut 2602 to be loosened, and reposition the stop washer 2603 to prevent the adjustment nut 2602 from loosening, thereby improving the practicality of the suspension string length adjustment device 10.

[0062] The screwing mechanism 120 can be configured as any mechanism in the prior art that can drive the adjusting nut 2602 to tighten and loosen.

[0063] like Figure 4 and Figure 7 As shown, optionally, the screwing mechanism 120 includes a driving member 121, a torque limiter 122 transmission-connected to the driving member 121, a rotation transmission assembly 123 and a first sleeve 124. One end of the rotation transmission assembly 123 is transmission-connected to the torque limiter 122, and the other end is transmission-connected to the first sleeve 124. The first sleeve 124 is used to fasten the adjustment nut 2602. In this way, when the robot module 500 drives the first sleeve 124 to be sleeved on the adjustment nut 2602 through the first mounting body 110, the driving member 121 can drive the first sleeve 124 to rotate through the torque limiter 122 and the rotation transmission assembly 123, and the first sleeve 124 drives the adjustment nut 2602 to rotate clockwise or counterclockwise to tighten or loosen the adjustment nut 2602 accordingly.

[0064] Specifically in this embodiment, the driving member 121 is used to generate a torque to tighten or tighten the adjusting nut 2602, and has a torque amplification rate control function and a current torque value output function. The torque limiter 122 is used to control the peak value of the output torque to prevent the driving member 121 from being overloaded and the tightening torque of the adjusting nut 2602 from being too large. The driving member 121 can be set as a servo motor. The rotation transmission assembly 123 includes a connecting rod and a rotating rod, one end of the connecting rod is connected to the first sleeve 124, the other end of the connecting rod is connected to one end of the rotating rod, and the other end of the rotating rod is connected to the torque limiter 122, so that the torque generated by the driving member 121 can be transmitted to the first sleeve 124 through the torque limiter 122, the rotating rod and the connecting rod.

[0065] Among them, the flipper mechanism 130 can be set to any mechanism in the prior art that can pry the stop washer 2603 off the adjusting nut 2602 and reset the stop washer 2603 under the drive of the robot module 500.

[0066] As Figure 4 and Figure 8 shown, optionally, the flipper mechanism 130 includes a fork 131 mounted on the first mounting body 110. A pointed corner portion 1311 is provided at one end of the fork 131 away from the first mounting body 110. The pointed corner portion 1311 is used to extend between the adjusting nut 2602 and the stop washer 2603 before the adjusting nut 2602 is loosened to pry the stop washer 2603 off the adjusting nut 2602. A flat pressing surface 1312 is provided on the side wall of the fork 131. The flat pressing surface 1312 is used to press the stop washer 2603 tightly after the adjusting nut 2602 is tightened to reset the stop washer 2603.

[0067] Among them, the number of the forks 131 can be flexibly adjusted according to actual usage needs. Specifically in this embodiment, the number of the forks 131 is two. The two forks 131 are arranged at intervals on the first mounting body 110, and the two flat pressing surfaces 1312 are respectively arranged on the sides of the two forks 131 close to each other.

[0068] As Figure 4 and Figure 9 shown, in one embodiment, the second fixture 200 includes a second mounting body 210 and a fastening mechanism 220 mounted on the second mounting body 210. The fastening mechanism 220 is used to fasten the adjusting bolt 2601.

[0069] Among them, the fastening mechanism 220 can be set to any mechanism in the prior art that can fasten the adjusting bolt 2601.

[0070] As Figure 4 and Figure 9 shown, specifically in this embodiment, the fastening mechanism 220 includes a second sleeve 221. The second sleeve 221 is mounted on the second mounting body 210 and is used to fasten the adjusting bolt 2601. In this way, the robot module 500 can drive the second sleeve 221 to move through the second mounting body 210, so that the second sleeve 221 is sleeved with the adjusting bolt 2601 to fasten the adjusting bolt 2601, improving the practicability of the suspension string length adjusting device 10.

[0071] As Figure 4 and Figure 10 shown, in one embodiment, the third fixture 300 includes a third mounting body 310 and a supporting mechanism 320 mounted on the third mounting body 310. The supporting mechanism 320 is used to support the contact wire 22.

[0072] The supporting mechanism 320 can be configured as any mechanism in the prior art that can support the contact wire 22 .

[0073] like Figure 4 and Figure 10 As shown, specifically in this embodiment, the supporting mechanism 320 includes a supporting bracket 321. A limiting groove 322 is provided at one end of the supporting bracket 321 away from the third mounting body 310. The inner wall of the limiting groove 322 is used to support and limit the contact wire 22. Thus, the supporting bracket 321 is used to support the contact wire 22, thereby reducing the tension within the main chord section 2503, reducing the pulling force of the main adjustment mechanism 430 and the auxiliary adjustment mechanism 440 during the adjustment process, and improving the practicality of the suspension string length adjustment device 10.

[0074] It should be noted that, in this embodiment, the contact line 22 is limited by the inner wall of the limiting groove 322. In other embodiments, the contact line 22 can also be limited by holding or other methods.

[0075] Specifically in this embodiment, the second fixture 200 and the third fixture 300 are both single-station fixtures.

[0076] like Figure 4 、 Figure 11 and Figure 12 As shown, in one embodiment, the fourth clamp 400 includes a fourth mounting body 410, a positioning module 420 mounted on the fourth mounting body 410, and a primary adjustment mechanism 430 and a secondary adjustment mechanism 440 mounted on the fourth mounting body 410 in a movably movable manner. The positioning module 420 is used to secure the clamp body 23 and the retaining ring 24 when adjusting the length of the suspension string 25. The primary adjustment mechanism 430 is used to securely connect to the primary chord segment 2503 when the length of the suspension string 25 needs to be increased. The secondary adjustment mechanism 440 is used to hook to the secondary chord segment 2501 when the length of the suspension string 25 needs to be decreased.

[0077] like Figure 11 and Figure 12 As shown, the fourth fixture 400 optionally further includes a driving mechanism 450 and an adjustment body 460. The driving mechanism 450 is mounted on the fourth mounting body 410 and is in transmission connection with the adjustment body 460 to drive the adjustment body 460 up and down. The main adjustment mechanism 430 and the auxiliary adjustment mechanism 440 are both mounted on the adjustment body 460. In this way, the driving mechanism 450 can drive the main adjustment mechanism 430 and the auxiliary adjustment mechanism 440 up and down through the adjustment body 460, ensuring that the main adjustment mechanism 430 can accurately move the main chord segment 2503 downward to increase the vertical length of the suspension string 25, and the auxiliary adjustment mechanism 440 can accurately move the auxiliary chord segment 2501 downward to decrease the vertical length of the suspension string 25, thereby improving the reliability of the suspension string length adjustment device 10.

[0078] The driving mechanism 450 can be configured as any mechanism in the prior art that can drive the adjustment body 460 to move up and down in the vertical direction. Specifically in this embodiment, the driving mechanism 450 can be configured as an electric cylinder.

[0079] The main adjustment mechanism 430 can be configured as any mechanism known in the art that can be fixedly connected to the main chord section 2503. Specifically, in this embodiment, the main adjustment mechanism 430 can be configured as a main adjustment fixture that can clamp the main chord section 2503 and, driven by the driving mechanism 450, drive the main chord section 2503 to descend synchronously.

[0080] The auxiliary adjustment mechanism 440 can be configured as any structure in the prior art that can be hooked to the auxiliary chord segment 2501. Specifically, in this embodiment, the auxiliary adjustment mechanism 440 includes a mounting bracket 441, a hooking rod 442, and a telescopic member 443. The mounting bracket 441 is mounted on the adjustment body 460. The hooking rod 442 can be rotatably mounted on the end of the mounting bracket 441 away from the adjustment body 460. One end of the hooking rod 442 is provided with a hooking portion for hooking the auxiliary chord segment 2501, and the other end is transmission-connected to one end of the telescopic member 443. The other end of the telescopic member 443 is rotationally connected to the end of the mounting bracket 441 close to the adjustment body 460. The telescopic member 443 can be telescopic along its own axis to drive the hooking portion to swing back and forth around the rotation axis of the hooking rod 442, and can be hooked to or unhooked from the auxiliary chord segment 2501.

[0081] The positioning module 420 can fix the protective ring 24 and the wire clamp body 23 by snapping, grabbing or other methods.

[0082] like Figure 13 As shown, the positioning module 420 optionally includes a three-jaw chuck 421, which is used to pass through the retaining ring 24 and expand outward from the center to secure the retaining ring 24. Thus, when the retaining ring 24 needs to be secured, the robot module 500 drives the three-jaw chuck 421 through the fourth mounting body 410 to insert the retaining ring 24. The three-jaw chuck 421 then expands outward to utilize the three-jaw centering principle to ensure that the retaining ring 24 is concentric with the three-jaw chuck 421 before the operation, thereby securing the retaining ring 24.

[0083] like Figure 13 As shown, the positioning module 420 optionally includes a clamping mechanism 422, which is used to clamp the wire clamp body 23. In this way, the clamping mechanism 422 can fix the wire clamp body 23 by clamping it, ensuring that the closed loop segment 2502 does not slip off the guard ring 24 during adjustment, thereby improving the reliability of the suspension string length adjustment device 10.

[0084] The clamping mechanism 422 may be configured as any mechanism in the prior art that can fix the wire clamp body 23 by clamping.

[0085] As Figure 13 shown, optionally, the positioning module 420 includes a limiting mechanism 423 for limiting cooperation with the catenary 21. In this way, the catenary 21 is limited by the limiting mechanism 423, so that the positions of structures such as the suspension insulator 25 connected thereto are relatively fixed, thereby ensuring that the working position of the suspension insulator length adjustment device 10 is relatively fixed.

[0086] Among them, the limiting mechanism 423 can be set as any one of the existing technologies that can limit the catenary 21.

[0087] It should be noted that when the robot module 500 drives the three-jaw chuck 421 to pass through the protective ring 24 through the fourth installation body 410, the limiting mechanism 423 can be in limiting cooperation with the catenary 21, the clamping mechanism 422 can clamp the clamp body 23, the main adjustment mechanism 430 can be selectively fixedly connected to the main string segment 2503, and the auxiliary adjustment mechanism 440 can be selectively hooked to the auxiliary string segment 2501.

[0088] As Figure 1 and Figure 2 shown, in one embodiment, the robot module 500 is used to drive the first installation body 110, the second installation body 210, the third installation body 310 and the fourth installation body 410.

[0089] As Figure 1 , Figure 6 , Figure 9 , Figure 10 and Figure 11 shown, further, the first fixture 100 further includes a first flange 140 installed on the first installation body 110. The second fixture 200 further includes a second flange 230 installed on the second installation body 210. The third fixture 300 further includes a third flange 330 installed on the first installation body 110. The fourth fixture 400 further includes a fourth flange 470 installed on the fourth installation body 410. The robot module 500 includes a first robot body 510 with a detachable connection at the end to the first flange 140, a second robot body 520 with a detachable connection at the end to the second flange 230, a third robot body 530 with a detachable connection at the end to the third flange 330, and a fourth robot body 540 with a detachable connection at the end to the fourth flange 470. In this way, the first fixture 100 is driven by the first robot body 510, the second fixture 200 is driven by the second robot body 520, the third fixture 300 is driven by the third robot body 530, and the fourth fixture 400 is driven by the fourth robot body 540, so that the first fixture 100, the second fixture 200, the third fixture 300 and the fourth fixture 400 can be respectively driven and cooperate with each other, improving the practicability of the suspension insulator length adjustment device 10.

[0090] Specifically in this embodiment, the first robot body 510, the second robot body 520, the third robot body 530, and the fourth robot body 540 can all be set as six-axis general robots. A chuck for installing a flange is provided at the end of the sixth axis of the six-axis general robot. In other embodiments, the end of the six-axis general robot can also be detachably connected to the corresponding flange in other ways.

[0091] Specifically in this embodiment, the structures, shapes, and dimensions of the first flange 140, the second flange 230, the third flange 330, and the fourth flange 470 are the same, so that different robot bodies and different jigs have an interchangeable function. For example, any one of the first robot body 510, the second robot body 520, the third robot body 530, and the fourth robot body 540 can be detachably connected to any one of the first jig 100, the second jig 200, the third jig 300, and the fourth jig 400 correspondingly.

[0092] As Figure 1 and Figure 2 shown, optionally, the string length adjustment device 10 further includes an installation platform 600 and a storage rack 700. The first robot body 510, the second robot body 520, the third robot body 530, and the fourth robot body 540 are respectively installed at the four corners of the installation platform 600. The storage rack 700 is installed at the middle position of the installation platform 600 and is used to fix and store the first jig 100, the second jig 200, the third jig 300, and the fourth jig 400. In this way, the first jig 100, the second jig 200, the third jig 300, and the fourth jig 400 are stored by the storage rack 700, so as to facilitate the first robot body 510 to grab the first jig 100, facilitate the second robot body 520 to grab the second jig 200, facilitate the third robot body 530 to grab the third jig 300, and facilitate the fourth robot body 540 to grab the fourth jig 400, improving the convenience of the string length adjustment device 10.

[0093] Specifically in this embodiment, the first robot body 510 and the second robot body 520 are arranged along a diagonal direction of the installation platform 600. The third robot body 530 and the fourth robot body 540 are arranged along the other diagonal direction of the installation platform 600.

[0094] As Figure 14 shown, in one embodiment, an adjustment method is further provided, which is applied to the string length adjustment device 10 in any of the above embodiments. The adjustment method at least includes the following steps:

[0095] S100: Drive the second mounting body 210 to move so that the fastening mechanism 220 tightens the adjusting bolt 2601. In this way, the fastening mechanism 220 tightens the adjusting bolt 2601, so that the position of the adjusting bolt clamp 26 remains fixed, thereby facilitating the subsequent driving of the first clamp 100 to perform corresponding actions on the adjusting bolt 2601 and the stop washer 2603.

[0096] S200: After the fourth mounting body 410 is driven to move, the positioning module 420 moves to the retaining ring 24. The positioning module 420 then actuates to secure the retaining ring 24 and the wire clamp body 23. This securement of the retaining ring 24 and the wire clamp body 23 ensures that the closed loop segment 2502 can stably and reliably move along the circumference of the retaining ring 24 during adjustment and does not slip off the retaining ring 24, thereby improving the reliability of the suspension string length adjustment device 10.

[0097] S310: When the length of the suspension string 25 needs to be shortened, the auxiliary adjustment mechanism 440 is actuated to engage with the auxiliary string segment 2501, while the main adjustment mechanism 430 remains open and not fixedly connected to the main string segment 2503. This ensures that the main adjustment mechanism 430 can pull the suspension string 25 while the auxiliary adjustment mechanism 440 does not interfere with the suspension string 25.

[0098] S320: When the length of the suspension string 25 needs to be increased, the main adjustment mechanism 430 is actuated to securely connect with the main string segment 2503, while the auxiliary adjustment mechanism 440 remains retracted to avoid hooking with the auxiliary string segment 2501. This ensures that the auxiliary adjustment mechanism 440 can pull the suspension string 25 while the main adjustment mechanism 430 does not interfere with the suspension string 25.

[0099] S400: Drive the third mounting body 310 to move so that the supporting mechanism 320 supports the contact wire 22. In this way, the supporting mechanism 320 lifts the contact wire 22, thereby reducing the tension in the main chord section 2503 and the pulling force of the main adjustment mechanism 430 and the auxiliary adjustment mechanism 440 during the adjustment operation, thereby improving the practicality of the adjustment method.

[0100] S500: Drive the first mounting body 110 to move so that the paddle mechanism 130 pries the stop washer 2603 away from the adjusting nut 2602. In this way, the restriction of the stop washer 2603 on the adjusting nut 2602 is released, so that the adjusting nut 2602 can be loosened.

[0101] S600: The first mounting body 110 is driven to move again to connect the screwing mechanism 120 with the adjusting nut 2602, and the screwing mechanism 120 drives the adjusting nut 2602 to loosen. In this way, the length of the suspension string 25 in the vertical direction can be adjusted, and the position of the contact line 22 in the vertical direction can be adjusted.

[0102] S710. When the length of the suspension string 25 needs to be shortened, the auxiliary adjustment mechanism 440 is controlled to descend and stops after descending a first specified length. In this way, the auxiliary adjustment mechanism 440 can pull the auxiliary string segment 2501 downward to increase the length of the auxiliary string segment 2501 and decrease the length of the main string segment 2503, thereby shortening the length of the suspension string 25 in the vertical direction.

[0103] It should be noted that the value of the first specified length can be flexibly adjusted according to actual usage requirements.

[0104] S720. When the length of the suspension string 25 needs to be increased, the main adjustment mechanism 430 is controlled to descend and stops after descending a second specified length. In this way, the main adjustment mechanism 430 can pull the main string segment 2503 downward to increase the length of the main string segment 2503 and decrease the length of the auxiliary string segment 2501, thereby increasing the length of the suspension string 25 in the vertical direction.

[0105] It should be noted that the value of the second specified length can be flexibly adjusted according to actual usage requirements.

[0106] Specifically in this embodiment, the driving mechanism 450 can feedback the actual moving length during the process of driving the adjustment body 460 to lift and lower.

[0107] S800. The screwing mechanism 120 drives the adjusting nut 2602 to be tightened and then disengages from the adjusting nut 2602. In this way, after the adjustment is completed, the adjusting nut 2602 is tightened to keep the suspension string 25 at the current length in the vertical direction.

[0108] S900. Drive the first mounting body 110 again so that the dial mechanism 130 presses the locking washer 2603 and the locking washer 2603 is reset. In this way, the locking washer 2603 can prevent the adjusting nut 2602 from loosening during use and improve the reliability of the catenary 20.

[0109] S1000. After driving the third mounting body 310 to drive the supporting mechanism 320 to move downward and release the contact wire 22, the third fixture 300 exits the working range.

[0110] S1100. After the positioning module 420 is reset, the main adjustment mechanism 430 is reset to release the fixed connection with the main string segment 2503, or the auxiliary adjustment mechanism 440 is reset to release the hook connection with the auxiliary string segment 2501, and then drive the fourth fixture 400 to exit the working range.

[0111] S1200. After driving the first fixture 100 and the second fixture 200 to exit the working range successively, the operation is completed.

[0112] In one embodiment, after driving the first mounting body 110 to move again to connect the screwing mechanism 120 with the adjusting nut 2602 and the screwing mechanism 120 drives the adjusting nut 2602 to be loosened, the following steps are included:

[0113] S1300. Drive the first mounting body 110 and the second mounting body 210 to move downward simultaneously, so that the adjusting bolt 2601 and the adjusting nut 2602 move downward from the mounting position to the avoidance position. In this way, after the first fixture 100 and the second fixture 200 cooperate to drive the adjusting bolt clamp 26 to move downward as a whole, the distance between the positioning module 420 on the fourth fixture 400 and the adjusting bolt 2601 and the adjusting nut 2602 increases, which can effectively reduce the risk of interference between the first fixture 100 and the second fixture 200 and the positioning module 420 during operation, and improve the reliability of the adjustment method. In addition, after the adjusting bolt clamp 26 moves downward as a whole, the included angle between the extending directions of both ends of the closed-loop section 2502 and the vertical direction decreases, which can greatly reduce the adjustment force of the suspension 25 and improve the practicability of the adjustment method.

[0114] Before the screwing mechanism 120 drives the adjusting nut 2602 to be tightened and disengages from the adjusting nut 2602 after tightening, the following steps are included:

[0115] S1400. Drive the first mounting body 110 and the second mounting body 210 to move upward simultaneously, so that the adjusting bolt 2601 and the adjusting nut 2602 are reset from the avoidance position to the mounting position.

[0116] Compared with the adjustment method using tools such as a chain block in the prior art, the suspension length adjustment device 10 and its adjustment method in the present application have at least the following advantages: The adjustment of the length of the suspension 25 in the catenary 20 is realized by the mutual cooperation of the first fixture 100, the second fixture 200, the third fixture 300 and the fourth fixture 400 driven by the robot module 500, without manual high-altitude operation and without manual intervention, realizing the unmanned operation of the adjustable suspension 25 in the catenary 20, reducing the work intensity and safety hazards of front-line workers; at the same time, the consistency of the operation actions of the robot module 500 and the standardization of the operation steps are also utilized to realize the standardized adjustment of the adjustable suspension 25 in the catenary 20, promoting the intelligent level of the catenary 20.

[0117] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to this application.

[0118] In addition, if terms such as "first" and "second" appear, these terms are only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0119] In this application, unless otherwise clearly defined and limited, if terms such as "mounted", "connected", "connected to", "fixed" etc. appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0120] In this application, unless otherwise clearly defined and limited, if there is a description such as a first feature being "on" or "under" a second feature, etc., the meaning can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature has a lower horizontal height than the second feature.

[0121] It should be noted that if an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation.

[0122] It should also be understood that when interpreting the connection relationship or positional relationship of elements, although not explicitly described, the connection relationship and positional relationship are interpreted to include an error range, and this error range should be within the acceptable deviation range of a specific value determined by those skilled in the art. For example, "about", "approximate" or "substantially" can mean within one or more standard deviations, which is not limited herein.

[0123] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0124] The above embodiments only represent several implementation manners of this application, and their descriptions are relatively specific and detailed, but they should not be understood as limiting the scope of the patent application. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can still be made, and these all belong to the protection scope of this application. Therefore, the protection scope of the patent of this application should be subject to the appended claims.

Claims

1. A suspension string length adjustment device for the maintenance and repair of catenary. The catenary includes a carrier cable, a contact wire spaced below the carrier cable, a clamp body installed on the carrier cable, a protective ring installed on the clamp body, a suspension string, and an adjusting bolt clamp. One end of the suspension string is connected to the contact wire, and the other end includes a secondary string segment, a closed-loop segment, and a main string segment connected in sequence. The secondary string segment is connected to the clamp body, and the adjusting bolt clamp is installed on the closed-loop segment so that the closed-loop segment forms a closed loop and is sleeved with the protective ring. The adjusting bolt clamp includes an adjusting bolt, an adjusting nut, and a locking washer, characterized in that, The suspension string length adjustment device comprises: A first clamp includes a first mounting body, and a twisting mechanism and a paddle mechanism mounted on the first mounting body, the twisting mechanism being used to connect to the adjusting nut and drive the adjusting nut to be tightened or loosened, and the paddle mechanism being used to pry the stop washer away from the adjusting nut before the adjusting nut is loosened, and to reset the stop washer after the adjusting nut is tightened; A second clamp, comprising a second mounting body and a fastening mechanism mounted on the second mounting body, the fastening mechanism being used to fasten the adjusting bolt; a third fixture comprising a third mounting body and a supporting mechanism mounted on the third mounting body, the supporting mechanism being used to support the contact wire; a fourth clamp comprising a fourth mounting body, a positioning module mounted on the fourth mounting body, and a primary adjustment mechanism and a secondary adjustment mechanism movably mounted on the fourth mounting body, wherein the positioning module is used to fix the wire clamp body and the retaining ring when adjusting the length of the dropper string; the primary adjustment mechanism is used to be fixedly connected to the primary string segment when the length of the dropper string needs to be increased; and the secondary adjustment mechanism is used to be hooked to the secondary string segment when the length of the dropper string needs to be shortened; A robot module is used to drive the first installation body, the second installation body, the third installation body and the fourth installation body.

2. The suspension length adjustment device according to claim 1, characterized in that, The twisting mechanism includes a driving member, a torque limiter connected to the driving member, a rotation transmission assembly and a first sleeve. One end of the rotation transmission assembly is connected to the torque limiter, and the other end is connected to the first sleeve. The first sleeve is used to tighten the adjusting nut.

3. The catenary length adjustment device according to claim 1, characterized in that The shift fork mechanism includes a shift fork mounted on the first mounting body, and a pointed portion is provided at one end of the shift fork away from the first mounting body. The pointed portion is used to extend between the adjusting nut and the stop washer before the adjusting nut is loosened to shift the stop washer away from the adjusting nut. The side wall of the shift fork is provided with a flat pressing surface, and the flat pressing surface is used to press the stop washer after the adjusting nut is tightened to reset the stop washer.

4. The catenary length adjustment device according to claim 1, characterized in that, The fastening mechanism includes a second sleeve, which is mounted on the second mounting body and is used to fasten the adjusting bolt; And / or, the supporting mechanism includes a supporting frame, and a limiting groove is provided at one end of the supporting frame away from the third mounting body, and the inner wall of the limiting groove is used to support the contact line and limit the contact line.

5. The suspension length adjustment device according to claim 1, characterized in that, The fourth fixture also includes a driving mechanism and an adjustment body. The driving mechanism is installed on the fourth installation body and is transmission-connected to the adjustment body to drive the adjustment body to rise and fall. The main adjustment mechanism and the auxiliary adjustment mechanism are both installed on the adjustment body.

6. The catenary length adjustment device according to claim 1, characterized in that The positioning module includes a three-jaw chuck, which is used to pass through the retaining ring and expand outward from the center to fix the retaining ring; And / or, the positioning module includes a clamping mechanism, and the clamping mechanism is used to clamp the clamp body; And / or, the positioning module includes a limiting mechanism, and the limiting mechanism is used to cooperate with the bearing cable in limiting manner.

7. The catenary length adjustment device according to any one of claims 1 to 6, characterized in that The first fixture also includes a first flange mounted on the first mounting body, the second fixture also includes a second flange mounted on the second mounting body, the third fixture also includes a third flange mounted on the first mounting body, and the fourth fixture also includes a fourth flange mounted on the fourth mounting body. The robot module includes a first robot body with an end detachably connected to the first flange, a second robot body with an end detachably connected to the second flange, a third robot body with an end detachably connected to the third flange, and a fourth robot body with an end detachably connected to the fourth flange.

8. The suspension length adjustment device according to claim 7, characterized in that, The suspension string length adjustment device also includes an installation platform and a storage rack. The first robot body, the second robot body, the third robot body and the fourth robot body are respectively installed at the four corners of the installation platform. The storage rack is installed in the middle position of the installation platform and is used to fix and store the first clamp, the second clamp, the third clamp and the fourth clamp.

9. An adjustment method, applied to the suspension length adjustment device according to any one of claims 1 to 8, characterized in that The adjustment method includes: driving the second mounting body to move so that the fastening mechanism tightens the adjusting bolt; Driving the fourth mounting body to move so that the positioning module moves to the guard ring, the positioning module acts to fix the guard ring and the wire clamp body; When the length of the suspension string needs to be shortened, the auxiliary adjustment mechanism is actuated to be hooked with the auxiliary string segment, and the main adjustment mechanism remains in an open state so as not to be fixedly connected with the main string segment; when the length of the suspension string needs to be increased, the main adjustment mechanism is actuated to be fixedly connected with the main string segment, and the auxiliary adjustment mechanism remains in a retracted state so as not to be hooked with the auxiliary string segment; driving the third mounting body to move so that the supporting mechanism supports the contact line; driving the first mounting body to move so that the paddle mechanism pries the stop washer away from the adjusting nut; driving the first mounting body to move again so that the screwing mechanism is connected to the adjusting nut, and the screwing mechanism drives the adjusting nut to be loosened; When the length of the suspension string needs to be shortened, the auxiliary adjustment mechanism is controlled to descend and stops after descending a first specified length; when the length of the suspension string needs to be increased, the main adjustment mechanism is controlled to descend and stops after descending a second specified length; The screwing mechanism drives the adjusting nut to be tightened, and disengages from the adjusting nut after being tightened; The first mounting body is driven again to cause the paddle mechanism to press the stop washer, and the stop washer is reset.

10. The adjustment method according to claim 9, characterized in that, After the step of driving the first mounting body to move again so that the screwing mechanism is connected to the adjusting nut and the screwing mechanism drives the adjusting nut to loosen, the method includes: driving the first mounting body and the second mounting body to move downward simultaneously, so that the adjusting bolt and the adjusting nut move downward from the mounting position to the avoidance position; Before the step of driving the adjusting nut to be tightened by the screwing mechanism and disengaging the adjusting nut after tightening, the method includes: Drive the first mounting body and the second mounting body to move upward simultaneously, so that the adjusting bolt and the adjusting nut are reset from the avoiding position to the mounting position.

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